TY - GEN
T1 - Key issues in the dynamic control of lightweight robots for space and terrestrial applications
AU - Shi, Jing Xin
AU - Albu-Schaffer, A.
AU - Hirzinger, G.
N1 - Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - As compared with industrial robots, the DLR lightweight robot characterizes a new milestone in the field of robot design 111. The module structure, the highly integrated electrical and mechanical components, the very low own-weighthoad ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, non-linear control theory and electric-drive systems to formulate the possible solutions of the dynamic control issues. Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.
AB - As compared with industrial robots, the DLR lightweight robot characterizes a new milestone in the field of robot design 111. The module structure, the highly integrated electrical and mechanical components, the very low own-weighthoad ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, non-linear control theory and electric-drive systems to formulate the possible solutions of the dynamic control issues. Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.
KW - fieldweakening of PM motors
KW - flexible-joint robots
KW - gearbox dynamics
KW - redundant robots
KW - state estimation
UR - https://www.scopus.com/pages/publications/0031633550
U2 - 10.1109/ROBOT.1998.677022
DO - 10.1109/ROBOT.1998.677022
M3 - Conference contribution
AN - SCOPUS:0031633550
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 490
EP - 497
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -